xorriso is a program which copies file objects from POSIX compliant filesystems into Rock Ridge enhanced ISO 9660 filesystems and allows session-wise manipulation of such filesystems. It can load the management information of existing ISO images and it writes the session results to optical media or to filesystem objects.
Vice versa xorriso is able to copy file objects out of ISO 9660 filesystems.

GNU xorriso is a static compilation of libburn, libisofs, libisoburn, and xorriso, contributed to the GNU operating system under GPLv3+ and promised to be permanently supported by libburnia-project.org.